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Allow VTOL transition based on time

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This commit is contained in:
sander
2016-06-08 23:06:51 +02:00
committed by Roman
parent 1bce38bd9b
commit b54982965b
2 changed files with 15 additions and 6 deletions
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15
src/modules/vtol_att_control/standard.cpp
View File

@@ -67,7 +67,8 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles_standard.forward_thurst_scale = param_find("VT_FWD_THRUST_SC");
_params_handles_standard.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
_params_handles_standard.airspeed_mode = param_find("FW_ARSP_MODE");
}
Standard::~Standard()
@@ -78,6 +79,7 @@ int
Standard::parameters_update()
{
float v;
int i;
/* duration of a forwards transition to fw mode */
param_get(_params_handles_standard.front_trans_dur, &v);
@@ -112,7 +114,12 @@ Standard::parameters_update()
_params_standard.down_pitch_max = math::radians(v);
/* scale for fixed wing thrust used for forward acceleration in multirotor mode */
param_get(_params_handles_standard.forward_thurst_scale, &_params_standard.forward_thurst_scale);
param_get(_params_handles_standard.forward_thrust_scale, &_params_standard.forward_thrust_scale);
/* airspeed mode */
param_get(_params_handles_standard.airspeed_mode, &i);
_params_standard.airspeed_mode = math::constrain(i, 0, 2);
return OK;
@@ -180,7 +187,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if ((_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans &&
if (((_params_standard.airspeed_mode == 2 || _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start)
> (_params_standard.front_trans_time_min * 1000000.0f)) ||
can_transition_on_ground()) {
@@ -294,7 +301,7 @@ void Standard::update_mc_state()
VtolType::update_mc_state();
// if the thrust scale param is zero then the pusher-for-pitch strategy is disabled and we can return
if (_params_standard.forward_thurst_scale < FLT_EPSILON) {
if (_params_standard.forward_thrust_scale < FLT_EPSILON) {
return;
}

6
src/modules/vtol_att_control/standard.h
View File

@@ -75,7 +75,8 @@ private:
float front_trans_timeout;
float front_trans_time_min;
float down_pitch_max;
float forward_thurst_scale;
float forward_thrust_scale;
int airspeed_mode;
} _params_standard;
struct {
@@ -87,7 +88,8 @@ private:
param_t front_trans_timeout;
param_t front_trans_time_min;
param_t down_pitch_max;
param_t forward_thurst_scale;
param_t forward_thrust_scale;
param_t airspeed_mode;
} _params_handles_standard;
enum vtol_mode {